Problem with stealth camping in an urban setting. Myself, I have no issues. I find a nice pull off in the sticks and spend the night.
Should have looked for a Cracker Barrel and parked there. If you patronize them, they don't say anything.. and the food is good. Truckstops work too so long as you park in the back lot.
We have even slept in rest areas on the Interstate, we just park in the truck parking area.
Walmart is getting fussy but it's more about local ordinances than the Walmart itself.
I spent over 20 years as an over the road trucker. I've slept in rest areas on the Interstate more times than I can count.